#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?std;
using?namespace?cv;

int?main（）
{
	ifstream?inImgPath（“calibdata.txt“）;	//標(biāo)定所用圖像文件的路徑
	vector?imgList;
	vector::iterator?p;
	string?temp;
	if?（!inImgPath.is_open（））
	{
		cout?<	}
	//讀取文件中保存的圖片文件路徑，并存放在數(shù)組中
	while?（getline（inImgPath?temp））
	{
		imgList.push_back（temp）;
	}

	ofstream?fout（“caliberation_result.txt“）;	//保存標(biāo)定結(jié)果的文件

	cout?<	cv::Size?image_size;//保存圖片大小
	cv::Size?pattern_size?=?cv::Size（4?6）;//標(biāo)定板上每行、每列的角點(diǎn)數(shù)；測試圖片中的標(biāo)定板上內(nèi)角點(diǎn)數(shù)為4*6
	vector?corner_points_buf;//建一個(gè)數(shù)組緩存檢測到的角點(diǎn)，通常采用Point2f形式
	vector::iterator?corner_points_buf_ptr;
	vector>?corner_points_of_all_imgs;
	int?image_num?=?0;
	string?filename;
	while（image_num?	{
		filename?=?imgList[image_num++];
		cout?<		cout?<		cv::Mat?imageInput?=?cv::imread（filename.c_str（））;
		if?（image_num?==?1）
		{
			image_size.width?=?imageInput.cols;
			image_size.height?=?imageInput.rows;
			cout?<			cout?<		}

		if?（findChessboardCorners（imageInput?pattern_size?corner_points_buf）?==?0）
		{
			cout?<			exit（1）;
		}
		else
		{
			cv::Mat?gray;
			cv::cvtColor（imageInput?gray?CV_RGB2GRAY）;
			cv::find4QuadCornerSubpix（gray?corner_points_buf?cv::Size（5?5））;
			corner_points_of_all_imgs.push_back（corner_points_buf）;
			cv::drawChessboardCorners（gray?pattern_size?corner_points_buf?true）;
			cv::imshow（“camera?calibration“?gray）;
			cv::waitKey（100）;
		}
	}

	int?total?=?corner_points_of_all_imgs.size（）;
	cout?<	int?cornerNum?=?pattern_size.width?*?pattern_size.height;//每張圖片上的總的角點(diǎn)數(shù)
	for?（int?i?=?0;?i?	{
		cout?<?第“?<:“?<		for?（int?j?=?0;j?		{
			cout?<“?<			cout?<“?<			if?（（j?+?1）?%?3?==?0）
			{
				cout?<			}
			else
			{
				cout.width（10）;
			}
		}
		cout?<	}

	cout?<
	//攝像機(jī)標(biāo)定
	cout?<	cv::Mat?cameraMatrix?=?cv::Mat（3?3?CV_32FC1?cv::Scalar::all（0））;//內(nèi)外參矩陣，H——單應(yīng)性矩陣
	cv::Mat?distCoefficients?=?cv::Mat（1?5?CV_32FC1?cv::Scalar::all（0））;//攝像機(jī)的5個(gè)畸變系數(shù)：k1k2p1p2k3
	vector?tvecsMat;//每幅圖像的平移向量，t
	vector?rvecsMat;//每幅圖像的旋轉(zhuǎn)向量（羅德里格旋轉(zhuǎn)向量）
	vector>?objectPoints;//保存所有圖片的角點(diǎn)的三維坐標(biāo)
											?//初始化每一張圖片中標(biāo)定板上角點(diǎn)的三維坐標(biāo)
	int?i?j?k;
	for?（k?=?0;k?<

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-01-06?17:25??testCameraCalibration\
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\.vs\
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\.vs\testCameraCalibration\
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\.vs\testCameraCalibration\v14\
?????文件???????32256??2018-01-06?17:25??testCameraCalibration\.vs\testCameraCalibration\v14\.suo
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\Debug\
?????目錄???????????0??2018-01-06?14:03??testCameraCalibration\testCameraCalibration\
?????文件????????1345??2018-01-06?12:48??testCameraCalibration\testCameraCalibration.sln
?????文件????13533184??2018-01-06?17:25??testCameraCalibration\testCameraCalibration.VC.db
?????文件???????96914??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\10_d.jpg
?????文件??????105567??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\11_d.jpg
?????文件??????122697??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\12_d.jpg
?????文件??????116777??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\13_d.jpg
?????文件??????125110??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\14_d.jpg
?????文件??????106607??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\1_d.jpg
?????文件??????101875??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\2_d.jpg
?????文件??????111613??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\3_d.jpg
?????文件??????115462??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\4_d.jpg
?????文件??????118556??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\5_d.jpg
?????文件??????123183??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\6_d.jpg
?????文件??????107267??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\7_d.jpg
?????文件??????110507??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\8_d.jpg
?????文件???????96209??2018-01-06?17:22??testCameraCalibration\testCameraCalibration\9_d.jpg
?????文件????????1305??2017-12-26?10:55??testCameraCalibration\testCameraCalibration\calibdata.txt
?????文件????????6322??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\caliberation_result.txt
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\testCameraCalibration\Debug\
?????目錄???????????0??2018-01-06?12:48??testCameraCalibration\testCameraCalibration\Debug\testCame.cf59b612.tlog\
?????文件????????8072??2018-01-06?12:49??testCameraCalibration\testCameraCalibration\testCameraCalibration.vcxproj
?????文件?????????944??2018-01-06?12:49??testCameraCalibration\testCameraCalibration\testCameraCalibration.vcxproj.filters
?????目錄???????????0??2018-01-06?12:49??testCameraCalibration\testCameraCalibration\x64\
?????目錄???????????0??2018-01-06?17:21??testCameraCalibration\testCameraCalibration\x64\Debug\
............此處省略19個(gè)文件信息